Gun control unit and method of use

ABSTRACT

A gun control unit for a M134 minigun firearm including an armature and a stator comprising at least one hardware processor; and one or more software modules that are configured to, when executed by the at least one hardware processor, independently control the armature; independently control the stator.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 17/575,494, filed on Jan. 13, 2022, which issued as U.S. Pat.No. 11,371,792 on Jun. 28, 2022, which is incorporated by referenceherein.

FIELD OF THE INVENTION

The present invention relates to gun control units for firearms.

SUMMARY OF THE INVENTION

An aspect of the invention involves a solid statemetal-oxide-semiconductor field-effect transistor (MOSFET)processor-enabled gun control unit (GCU) that controls an armature (orrotor assembly) and a stator (used to generate a magnetic field) of aM134 minigun firearm independently and incorporates feedback sensors aspart of a closed loop control system. The GCU includes a microprocessorthat controls the speed of a motor by using solid state technology thatincludes the MOSFET(s) and drivers. The MOSFET(s) are used in ahalf-bridge configuration and the microprocessor sends signals in apulse width modulation (PWM) format. The duty cycle is used to controlthe amount of DC voltage delivered to the motor, and this controls itsspeed. PWM is also used on the stator and a solenoid (used as a clutch),as the duty cycle is decreased on those, the heat that is beingdissipated can be reduced compared to GCUs of the past that wereessentially two relays, one to control the armature and stator field andthe other to control the solenoid.

Another aspect of the invention involves a GCU for a M134 minigunfirearm including an armature and a stator comprising at least onehardware processor; and one or more software modules that are configuredto, when executed by the at least one hardware processor, independentlycontrol the armature; independently control the stator.

One or more implementations of the aspect of the invention describedimmediately above includes one or more of the following: the GCUincludes one or more solid state metal-oxide-semiconductor field-effecttransistors (MOSFETs); one or more feedback sensors, and the one or moresoftware modules are configured to, when executed by the at least onehardware processor, receive one or more feedback signals from the one ormore feedback sensors and provide closed loop control of the armatureand the stator based on the received one or more feedback signals fromthe one or more feedback sensors; the one or more feedback sensorsinclude a speed sensor; the one or more feedback sensors include anaccelerometer sensor; the one or more feedback sensors include atemperature; the one or more feedback sensors include a speed sensor, anaccelerometer sensor, and a temperature sensor; the M134 minigun firearmincludes a solenoid, and the one or more software modules are configuredto, when executed by the at least one hardware processor, independentlycontrol the solenoid; the one or more software modules are configuredto, when executed by the at least one hardware processor, send controlsignals in a pulse width modulation (PWM) format; the M134 minigunfirearm includes an electric motor and the one or more software modulesare configured to, when executed by the at least one hardware processor,control the speed of the electric motor by controlling the duty cycle ofDC voltage to the electric motor, whereby decreasing the duty cycledecreases generated heat in the M134 minigun firearm; the M134 minigunfirearm includes a three-phase brushless (BLDC) electric motor and halleffect sensors, and the one or more software modules are configured to,when executed by the at least one hardware processor, control thethree-phase BLDC electric motor for each phase, decreasing generatedheat in the M134 minigun firearm; the GCU includes one or more solidstate metal-oxide-semiconductor field-effect transistors (MOSFETs); theGCU is configured to be manufactured with the rest of the M134 firearm;the GCU is configured to replace a two relay GCU including a first relayto control the armature and the stator, and a second relay to controlthe solenoid; a handle grip with hall-effect switches to control motorspeed; a LCD configured to allow a user to monitor one or more differentsensors and one or more different actuators; a LCD configured to allow auser to monitor one or more of number of rounds, speed, temperature,vibration, status of battery, wireless/satellite communication, GPS,view documents, and view history of events; a LCD configured to allow auser to save settings such as a predefined number of rounds, Max andMinimum speed, and enable an e-fence feature; a LCD having a capacitiveor resistive touch screen to control different functions; and/or aplurality of external pushbuttons to control different functions.

Another aspect of the invention includes a method of retrofitting a M134firearm comprising removing from the M134 firearm a two relay GCUincluding a first relay to control the armature and the stator, and asecond relay to control the solenoid; replacing the two relay GCU of theM134 firearm with a GCU for a M134 minigun firearm including an armatureand a stator comprising at least one hardware processor; and one or moresoftware modules that are configured to, when executed by the at leastone hardware processor, independently control the armature;independently control the stator.

BRIEF DESCRIPTION OF DRAWINGS

The accompanying drawings, which are incorporated in and form a part ofthis specification illustrate embodiments of the invention and togetherwith the description, serve to explain the principles of the invention.

FIG. 1 is a perspective view of a M134 machine gun including arelay-enabled GCU of the prior art.

FIG. 2 is an exploded enlarged perspective view of a variety ofcomponents related to the relay-enabled GCU of the prior art of the M134machine gun shown in FIG. 1.

FIG. 3 is an enlarged perspective view of the relay-enabled GCU of theprior art that may be replaced with the MOSFET processor-enabled GCU ofFIGS. 4A and 4B.

FIG. 4A is an exploded enlarged perspective view of a variety ofcomponents related to an embodiment of a MOSFET processor-enabled GCU ofthe M134 machine gun shown in FIG. 1

FIG. 4B is an enlarged perspective view of a MOSFET of the MOSFETprocessor-enabled GCU of FIG. A.

FIG. 5 is an electrical schematic of the MOSFET processor-enabled GCU ofFIGS. 4A and 4B.

FIG. 6 is an electrical schematic of the MOSFET processor-enabled GCUalong with a brushless DC (BLDC) motor with hall effect sensors of aM134 machine gun.

FIG. 7 is a perspective view of a M134 machine gun including a MOSFETprocessor-enabled GCU, a LCD, and handle grip with hall-effect switchesto control motor speed.

FIG. 8 is an example processing system, by which one or more of theprocesses described herein, may be executed, according to an embodiment.

DESCRIPTION OF EMBODIMENT OF THE INVENTION

With reference to FIGS. 4A, 4B, and 5, an embodiment of a solid statemetal-oxide-semiconductor field-effect transistor (MOSFET)processor-enabled gun control unit (GCU) 9 that replaces a relay-enabledGCU 10 of the prior art and controls an armature 12 and a stator 14 of aM134 minigun firearm 16 independently and incorporates feedback speedsensor(s) 18, accelerometer sensor(s) 20, and temperature sensor(s) 22as part of a closed loop control system 24 will be described.

The GCU 9 includes a microprocessor 26 that controls the speed of amotor 28 by using solid state technology that includes MOSFET(s) 30 anddriver(s) 32. The MOSFET(s) 30 are used in a half-bridge configurationand the microprocessor 26 sends signals in a pulse width modulation(PWM) format. The duty cycle is used to control the amount of DC voltagedelivered to the motor 28, and this controls its speed. A 24V battery 35supplies power as determined by a fire switch 36 to the GCU 9. PWM isalso used on the stator 44 and a solenoid 38. As the duty cycle isdecreased on those, the heat that is being dissipated can be reducedcompared to GCUs of the past that were essentially two relays, one tocontrol the armature and stator field and the other to control thesolenoid. The two relay GCU of the prior art provided continuous voltageand, thus, maximum current and energy consumption.

The tradeoff of using PWM on the stator 14 and solenoid 38 to decreasedissipation is that the strength of the magnetic field is not as strongas with the two relay GCU of the prior art.

Accordingly, with reference to FIG. 6, another embodiment of a MOSFETprocessor-enabled GCU 40 is shown in conjunction with a three-phasebrushless DC (BLDC) motor 42 with hall effect sensors 44 of a M134machine gun. The GCU 40 is similar to the GCU 9, but instead controlsthe brushless DC (BLDC) motor 42 for each phase (A, B, and C). Using theMOSFET processor-enabled GCU 40 with the three-phase brushless DC (BLDC)motor 42 with hall effect sensors 44 helps to minimize the heatdissipation in the M134 minigun firearm 16.

FIG. 7 is a perspective view of a M134 machine gun or complete unit 52including a MOSFET processor-enabled GCU 9, a LCD 54, and handle grip 56with hall-effect switches 57 to control motor speed. The LCD 54 allowsthe user to monitor different sensor(s)/actuator(s) of the M134 machinegun 52. For example, but not by way of limitation, the LCD 54 allows theuser to monitor number of rounds, speed, temperature, vibration, etc.and see the status of battery, wireless/satellite communication, GPS,etc. The LCD 54 is also used as a document viewer for, for example, amanual of operation, or to see the history of events. The LCD 54 alsoallows the user to save some settings such as, but not limited to, apredefined number of rounds, Max and Minimum speed, and to enable ane-fence feature. The LCD 54 includes color and graphics, allowing a userto perceive important information in a prompt matter. The LCD 54includes a capacitive or resistive touch screen to control the differentfunctions. The different functions can also be controlled using externalpushbuttons 58 (e.g., three pushbuttons 58 disposed just below the LCD54).

The hall-effect switches 57 are active transducers that provide avoltage proportional to the “travel” of the switch 57. This voltage isused by the controller to provide a variable speed. Software is used asa threshold switch for single-speed units. These types of switches areused on a hall effect technology, are more reliable than the mechanicalswitches since there are no moving parts and since it is based onmagnetic field, they are more reliable in harsh environments (dust,water, temperature, oil, etc.)

In use, either the M134 minigun firearm 16, 52 is manufactured with theMOSFET processor-enabled GCU 9, 40 or the two relay GCU 45 (FIG. 3) ofthe prior art is removed from the M134 minigun firearm 16 and replacedwith the MOSFET processor-enabled GCU 9, 40, which is housed in GCUhousing 46/lid 47. As discussed above with respect to FIG. 7, the M134minigun firearm 16, 52 may also include a LCD 54, and handle grip 56with hall-effect switches 57 to control motor speed. An existing motorcable and a clutch/solenoid cable are replaced with a motor cable 48 anda clutch/solenoid cable 50.

FIG. 8 is a block diagram illustrating an example wired or wirelesssystem 200 that may be used in connection with various embodimentsdescribed herein. For example, system 200 may be used as or inconjunction with one or more of the functions, processes, or methods(e.g., to store and/or execute the software) described herein, and mayrepresent components of MOSFET processor-enabled GCU 9, 40, and/or otherprocessing devices described herein. System 200 can be a server or anyconventional personal computer, or any other processor-enabled devicethat is capable of wired or wireless data communication. Other computersystems and/or architectures may be also used, as will be clear to thoseskilled in the art.

System 200 preferably includes one or more processors 210. Processor(s)210 may comprise a central processing unit (CPU). Additional processorsmay be provided, such as a graphics processing unit (GPU), an auxiliaryprocessor to manage input/output, an auxiliary processor to performfloating-point mathematical operations, a special-purpose microprocessorhaving an architecture suitable for fast execution of signal-processingalgorithms (e.g., digital-signal processor), a slave processorsubordinate to the main processing system (e.g., back-end processor), anadditional microprocessor or controller for dual or multiple processorsystems, and/or a coprocessor. Such auxiliary processors may be discreteprocessors or may be integrated with processor 210. Examples ofprocessors which may be used with system 200 include, withoutlimitation, any of the processors (e.g., Pentium™, Core i7™′ Xeon™,etc.) available from Intel Corporation of Santa Clara, Calif., any ofthe processors available from Advanced Micro Devices, Incorporated (AMD)of Santa Clara, Calif., any of the processors (e.g., A series, M series,etc.) available from Apple Inc. of Cupertino, any of the processors(e.g., Exynos™) available from Samsung Electronics Co., Ltd., of Seoul,South Korea, and/or the like.

Processor 210 is preferably connected to a communication bus 205.Communication bus 205 may include a data channel for facilitatinginformation transfer between storage and other peripheral components ofsystem 200. Furthermore, communication bus 205 may provide a set ofsignals used for communication with processor 210, including a data bus,address bus, and/or control bus (not shown). Communication bus 205 maycomprise any standard or non-standard bus architecture such as, forexample, bus architectures compliant with industry standard architecture(ISA), extended industry standard architecture (EISA), Micro ChannelArchitecture (MCA), peripheral component interconnect (PCI) local bus,standards promulgated by the Institute of Electrical and ElectronicsEngineers (IEEE) including IEEE 488 general-purpose interface bus(GPIB), IEEE 696/S-100, and/or the like.

System 200 preferably includes a main memory 215 and may also include asecondary memory 220. Main memory 215 provides storage of instructionsand data for programs executing on processor 210, such as one or more ofthe functions and/or modules discussed herein. It should be understoodthat programs stored in the memory and executed by processor 210 may bewritten and/or compiled according to any suitable language, includingwithout limitation C/C++, Java, JavaScript, Perl, Visual Basic, .NET,and the like. Main memory 215 is typically semiconductor-based memorysuch as dynamic random access memory (DRAM) and/or static random accessmemory (SRAM). Other semiconductor-based memory types include, forexample, synchronous dynamic random access memory (SDRAM), Rambusdynamic random access memory (RDRAM), ferroelectric random access memory(FRAM), and the like, including read only memory (ROM).

Secondary memory 220 may optionally include an internal medium 225and/or a removable medium 230. Removable medium 230 is read from and/orwritten to in any well-known manner. Removable storage medium 230 maybe, for example, a magnetic tape drive, a compact disc (CD) drive, adigital versatile disc (DVD) drive, other optical drive, a flash memorydrive, and/or the like.

Secondary memory 220 is a non-transitory computer-readable medium havingcomputer-executable code (e.g., disclosed software modules) and/or otherdata stored thereon. The computer software or data stored on secondarymemory 220 is read into main memory 215 for execution by processor 210.

In alternative embodiments, secondary memory 220 may include othersimilar means for allowing computer programs or other data orinstructions to be loaded into system 200. Such means may include, forexample, a communication interface 240, which allows software and datato be transferred from external storage medium 245 to system 200.Examples of external storage medium 245 may include an external harddisk drive, an external optical drive, an external magneto-opticaldrive, and/or the like. Other examples of secondary memory 220 mayinclude semiconductor-based memory, such as programmable read-onlymemory (PROM), erasable programmable read-only memory (EPROM),electrically erasable read-only memory (EEPROM), and flash memory(block-oriented memory similar to EEPROM).

As mentioned above, system 200 may include a communication interface240. Communication interface 240 allows software and data to betransferred between system 200 and external devices (e.g. printers),networks, or other information sources. For example, computer softwareor executable code may be transferred to system 200 from a networkserver (e.g., platform 110) via communication interface 240. Examples ofcommunication interface 240 include a built-in network adapter, networkinterface card (NIC), Personal Computer Memory Card InternationalAssociation (PCMCIA) network card, card bus network adapter, wirelessnetwork adapter, Universal Serial Bus (USB) network adapter, modem, awireless data card, a communications port, an infrared interface, anIEEE 1394 fire-wire, and any other device capable of interfacing system200 with a network (e.g., network(s) 120) or another computing device.Communication interface 240 preferably implements industry-promulgatedprotocol standards, such as Ethernet IEEE 802 standards, Fiber Channel,digital subscriber line (DSL), asynchronous digital subscriber line(ADSL), frame relay, asynchronous transfer mode (ATM), integrateddigital services network (ISDN), personal communications services (PCS),transmission control protocol/Internet protocol (TCP/IP), serial lineInternet protocol/point to point protocol (SLIP/PPP), and so on, but mayalso implement customized or non-standard interface protocols as well.

Software and data transferred via communication interface 240 aregenerally in the form of electrical communication signals 255. Thesesignals 255 may be provided to communication interface 240 via acommunication channel 250. In an embodiment, communication channel 250may be a wired or wireless network (e.g., network(s) 120), or anyvariety of other communication links. Communication channel 250 carriessignals 255 and can be implemented using a variety of wired or wirelesscommunication means including wire or cable, fiber optics, conventionalphone line, cellular phone link, wireless data communication link, radiofrequency (“RF”) link, or infrared link, just to name a few.

Computer-executable code (e.g., computer programs, such as the disclosedsoftware) is stored in main memory 215 and/or secondary memory 220.Computer programs can also be received via communication interface 240and stored in main memory 215 and/or secondary memory 220. Such computerprograms, when executed, enable system 200 to perform the variousfunctions of the disclosed embodiments as described elsewhere herein.

In this description, the term “computer-readable medium” is used torefer to any non-transitory computer-readable storage media used toprovide computer-executable code and/or other data to or within system200. Examples of such media include main memory 215, secondary memory220 (including internal memory 225, removable medium 230, and externalstorage medium 245), and any peripheral device communicatively coupledwith communication interface 240 (including a network information serveror other network device). These non-transitory computer-readable mediaare means for providing executable code, programming instructions,software, and/or other data to system 200.

In an embodiment that is implemented using software, the software may bestored on a computer-readable medium and loaded into system 200 by wayof removable medium 230, I/O interface 235, or communication interface240. In such an embodiment, the software is loaded into system 200 inthe form of electrical communication signals 255. The software, whenexecuted by processor 210, preferably causes processor 210 to performone or more of the processes and functions described elsewhere herein.

In an embodiment, I/O interface 235 provides an interface between one ormore components of system 200 and one or more input and/or outputdevices. Example input devices include, without limitation, sensors,keyboards, touch screens or other touch-sensitive devices, cameras,biometric sensing devices, computer mice, trackballs, pen-based pointingdevices, and/or the like. Examples of output devices include, withoutlimitation, other processing devices, cathode ray tubes (CRTs), plasmadisplays, light-emitting diode (LED) displays, liquid crystal displays(LCDs), printers, vacuum fluorescent displays (VFDs), surface-conductionelectron-emitter displays (SEDs), field emission displays (FEDs), and/orthe like. In some cases, an input and output device may be combined,such as in the case of a touch panel display (e.g., in a smartphone,tablet, or other mobile device).

System 200 may also include optional wireless communication componentsthat facilitate wireless communication over a voice network and/or adata network (e.g., in the case of user system 130). The wirelesscommunication components comprise an antenna system 270, a radio system265, and a baseband system 260. In system 200, radio frequency (RF)signals are transmitted and received over the air by antenna system 270under the management of radio system 265.

In an embodiment, antenna system 270 may comprise one or more antennaeand one or more multiplexors (not shown) that perform a switchingfunction to provide antenna system 270 with transmit and receive signalpaths. In the receive path, received RF signals can be coupled from amultiplexor to a low noise amplifier (not shown) that amplifies thereceived RF signal and sends the amplified signal to radio system 265.

In an alternative embodiment, radio system 265 may comprise one or moreradios that are configured to communicate over various frequencies. Inan embodiment, radio system 265 may combine a demodulator (not shown)and modulator (not shown) in one integrated circuit (IC). Thedemodulator and modulator can also be separate components. In theincoming path, the demodulator strips away the RF carrier signal leavinga baseband receive audio signal, which is sent from radio system 265 tobaseband system 260.

If the received signal contains audio information, then baseband system260 decodes the signal and converts it to an analog signal. Then thesignal is amplified and sent to a speaker. Baseband system 260 alsoreceives analog audio signals from a microphone. These analog audiosignals are converted to digital signals and encoded by baseband system260. Baseband system 260 also encodes the digital signals fortransmission and generates a baseband transmit audio signal that isrouted to the modulator portion of radio system 265. The modulator mixesthe baseband transmit audio signal with an RF carrier signal, generatingan RF transmit signal that is routed to antenna system 270 and may passthrough a power amplifier (not shown). The power amplifier amplifies theRF transmit signal and routes it to antenna system 270, where the signalis switched to the antenna port for transmission.

Baseband system 260 is also communicatively coupled with processor(s)210. Processor(s) 210 may have access to data storage areas 215 and 220.Processor(s) 210 are preferably configured to execute instructions(i.e., computer programs, such as the disclosed software) that can bestored in main memory 215 or secondary memory 220. Computer programs canalso be received from baseband processor 260 and stored in main memory210 or in secondary memory 220, or executed upon receipt. Such computerprograms, when executed, enable system 200 to perform the variousfunctions of the disclosed embodiments.

It should be understood that the described processes may be embodied inone or more software modules that are executed by one or more hardwareprocessors (e.g., processor 210), for example. The described processesmay be implemented as instructions represented in source code, objectcode, and/or machine code. These instructions may be executed directlyby hardware processor(s) 210, or alternatively, may be executed by avirtual machine operating between the object code and hardwareprocessors 210. In addition, the disclosed software may be built upon orinterfaced with one or more existing systems.

Alternatively, the described processes may be implemented as a hardwarecomponent (e.g., general-purpose processor, integrated circuit (IC),application-specific integrated circuit (ASIC), digital signal processor(DSP), field-programmable gate array (FPGA) or other programmable logicdevice, discrete gate or transistor logic, etc.), combination ofhardware components, or combination of hardware and software components.To clearly illustrate the interchangeability of hardware and software,various illustrative components, blocks, modules, circuits, and stepsare described herein generally in terms of their functionality. Whethersuch functionality is implemented as hardware or software depends uponthe particular application and design constraints imposed on the overallsystem. Skilled persons can implement the described functionality invarying ways for each particular application, but such implementationdecisions should not be interpreted as causing a departure from thescope of the invention. In addition, the grouping of functions within acomponent, block, module, circuit, or step is for ease of description.Specific functions or steps can be moved from one component, block,module, circuit, or step to another without departing from theinvention.

Furthermore, while the processes, described herein, are illustrated witha certain arrangement and ordering of subprocesses, each process may beimplemented with fewer, more, or different subprocesses and a differentarrangement and/or ordering of subprocesses. In addition, it should beunderstood that any subprocess, which does not depend on the completionof another subprocess, may be executed before, after, or in parallelwith that other independent subprocess, even if the subprocesses aredescribed or illustrated in a particular order.

The above description of the disclosed embodiments is provided to enableany person skilled in the art to make or use the invention. Variousmodifications to these embodiments will be readily apparent to thoseskilled in the art, and the general principles described herein can beapplied to other embodiments without departing from the spirit or scopeof the invention. Thus, it is to be understood that the description anddrawings presented herein represent a presently preferred embodiment ofthe invention and are therefore representative of the subject matterwhich is broadly contemplated by the present invention. It is furtherunderstood that the scope of the present invention fully encompassesother embodiments that may become obvious to those skilled in the artand that the scope of the present invention is accordingly not limited.

The figures may depict exemplary configurations for the invention, whichis done to aid in understanding the features and functionality that canbe included in the invention. The invention is not restricted to theillustrated architectures or configurations, but can be implementedusing a variety of alternative architectures and configurations.Additionally, although the invention is described above in terms ofvarious exemplary embodiments and implementations, it should beunderstood that the various features and functionality described in oneor more of the individual embodiments with which they are described, butinstead can be applied, alone or in some combination, to one or more ofthe other embodiments of the invention, whether or not such embodimentsare described and whether or not such features are presented as being apart of a described embodiment. Thus the breadth and scope of thepresent invention, especially in the following claims, should not belimited by any of the above-described exemplary embodiments.

Terms and phrases used in this document, and variations thereof, unlessotherwise expressly stated, should be construed as open ended as opposedto limiting. As examples of the foregoing: the term “including” shouldbe read as mean “including, without limitation” or the like; the term“example” is used to provide exemplary instances of the item indiscussion, not an exhaustive or limiting list thereof; and adjectivessuch as “conventional,” “traditional,” “standard,” “known” and terms ofsimilar meaning should not be construed as limiting the item describedto a given time period or to an item available as of a given time, butinstead should be read to encompass conventional, traditional, normal,or standard technologies that may be available or known now or at anytime in the future. Likewise, a group of items linked with theconjunction “and” should not be read as requiring that each and everyone of those items be present in the grouping, but rather should be readas “and/or” unless expressly stated otherwise. Similarly, a group ofitems linked with the conjunction “or” should not be read as requiringmutual exclusivity among that group, but rather should also be read as“and/or” unless expressly stated otherwise. Furthermore, although item,elements or components of the disclosure may be described or claimed inthe singular, the plural is contemplated to be within the scope thereofunless limitation to the singular is explicitly stated. The presence ofbroadening words and phrases such as “one or more,” “at least,” “but notlimited to” or other like phrases in some instances shall not be read tomean that the narrower case is intended or required in instances wheresuch broadening phrases may be absent.

We claim:
 1. An M134 minigun firearm gun control unit (GCU) configuredfor use with an M134 minigun firearm, the M134 minigun firearm includingan armature and a stator, the GCU comprising: at least one hardwareprocessor; and one or more software modules that are configured to, whenexecuted by the at least one hardware processor, independently controlthe armature; independently control the stator.
 2. The GCU of claim 1,wherein the GCU includes one or more solid statemetal-oxide-semiconductor field-effect transistors (MOSFETs).
 3. The GCUof claim 1, further including one or more feedback sensors, and the oneor more software modules are configured to, when executed by the atleast one hardware processor, receive one or more feedback signals fromthe one or more feedback sensors and provide closed loop control of thearmature and the stator based on the received one or more feedbacksignals from the one or more feedback sensors.
 4. The GCU of claim 3,wherein the one or more feedback sensors include a speed sensor.
 5. TheGCU of claim 3, wherein the one or more feedback sensors include anaccelerometer sensor.
 6. The GCU of claim 3, wherein the one or morefeedback sensors include a temperature.
 7. The GCU of claim 3, whereinthe one or more feedback sensors include a speed sensor, anaccelerometer sensor, and a temperature sensor.
 8. The GCU of claim 1,wherein the M134 minigun firearm includes a solenoid, and the one ormore software modules are configured to, when executed by the at leastone hardware processor, independently control the solenoid.
 9. The GCUof claim 1, wherein the one or more software modules are configured to,when executed by the at least one hardware processor, send controlsignals in a pulse width modulation (PWM) format.
 10. The GCU of claim1, wherein the M134 minigun firearm includes an electric motor and theone or more software modules are configured to, when executed by the atleast one hardware processor, control the speed of the electric motor bycontrolling the duty cycle of DC voltage to the electric motor, wherebydecreasing the duty cycle decreases generated heat in the M134 minigunfirearm.
 11. The GCU of claim 1, wherein the M134 minigun firearmincludes a three-phase brushless (BLDC) electric motor and hall effectsensors, and the one or more software modules are configured to, whenexecuted by the at least one hardware processor, control the three-phaseBLDC electric motor for each phase, decreasing generated heat in theM134 minigun firearm.
 12. The GCU of claim 1, wherein the GCU includesone or more solid state metal-oxide-semiconductor field-effecttransistors (MOSFETs).
 13. The GCU of claim 1, wherein the GCU isconfigured to be manufactured with the rest of the M134 firearm.
 14. TheGCU of claim 1, wherein the GCU is configured to replace a two relay GCUincluding a first relay to control the armature and the stator, and asecond relay to control the solenoid.
 15. The GCU of claim 1, whereinthe M134 minigun firearm includes a handle grip with hall-effectswitches to control motor speed.
 16. The GCU of claim 1, wherein theM134 minigun firearm includes a LCD configured to allow a user tomonitor one or more different sensors and one or more differentactuators.
 17. The GCU of claim 1, wherein the M134 minigun firearmincludes a LCD configured to allow a user to monitor one or more ofnumber of rounds, speed, temperature, vibration, status of battery,wireless/satellite communication, GPS, view documents, and view historyof events.
 18. The GCU of claim 1, wherein the M134 minigun firearmincludes a LCD configured to allow a user to save settings such as apredefined number of rounds, Max and Minimum speed, and enable ane-fence feature.
 19. The GCU of claim 1, wherein the M134 minigunfirearm includes a LCD having a capacitive or resistive touch screen tocontrol different functions.
 20. The GCU of claim 1, wherein the M134minigun firearm includes a plurality of external pushbuttons to controldifferent functions.
 21. A method of retrofitting a M134 firearm,comprising removing from the M134 firearm the two relay GCU includingthe first relay to control the armature and the stator, and the secondrelay to control the solenoid; replacing the two relay GCU of the M134firearm with the GCU of claim 1.